JP6261038B2 - Spatial recognition system and spatial recognition method - Google Patents

Description

  The present invention relates to a space recognition system and a space recognition method, and more particularly, to a space recognition system and a space recognition method for identifying the position of a device by using a relative position to a reference position set in the space.

  In recent years, the use of portable terminals such as tablet devices and smartphones has been expanding. And as one form of usage of such a portable terminal, it is considered to operate other devices such as a television and an audio device in the same space from the portable terminal. In such a usage mode, since it is necessary to recognize which device is instructing between the devices, it is necessary to specify the positional relationship between the devices. In view of this, Patent Documents 1 to 4 disclose a method of reflecting the user's movement on the position in the virtual space.

  Patent Document 1 discloses a technique for displaying a three-dimensional stereoscopic image with higher accuracy by using a user's viewpoint information acquired using a photographing unit or the like in an apparatus for displaying a three-dimensional stereoscopic image. . Patent Document 2 discloses an operation method for operating an object in a virtual space and a relative position of a user in a three-dimensional virtual space. Patent Document 3 discloses a technique for determining coordinates on a head-mounted display based on a position in real space determined by the amount of movement of a pen mouse. Patent Document 4 discloses a technique for operating a cursor in a spatial image according to the movement direction of an operation device detected by an acceleration sensor and a gyro sensor.

  However, the technologies described in Patent Documents 1 to 4 have a problem in that a specific device cannot be designated as an instruction target by a mobile terminal operated by a user because the positional relationship of devices existing in real space cannot be specified. . This is because it is necessary to specify the relative position between the devices in order to specify the operation target device from the portable terminal. Therefore, Patent Documents 5 to 7 disclose techniques related to recognition of an object in real space or recognition of a pointing direction.

  Patent Document 5 discloses a background difference processing unit that extracts a graphic included in an input image from the input image by a background difference method, and a binarization unit that binarizes image data of the graphic extracted by the background difference processing unit. The contour extraction unit that extracts the contour data from the image data of the figure binarized by the binarization unit, the centroid calculation unit that calculates the centroid position of the contour data extracted by the contour extraction unit, and the centroid calculation unit A polar coordinate value generating unit that calculates a distance from the center of gravity position to the outermost peripheral part of the contour data extracted by the contour extracting unit for each predetermined angle, converts the contour data into a polar coordinate expression, and generates a polar coordinate value; and an identification target A polar coordinate value storage unit that stores polar coordinate values of the contour data of the figure to be, the polar coordinate value stored in the polar coordinate value storage unit and the polar coordinate expression value generated by the polar coordinate value generation unit by a predetermined angle Compare and input while shifting Object identification apparatus is disclosed for performing identification of a figure included in the image.

  In the technique disclosed in Patent Document 6, a user is imaged from a plurality of different directions by two video cameras, and the control unit performs an operation in which the user points to a specific position or direction based on the captured image. The three-dimensional coordinates of the feature point whose position changes in accordance with the change of the designated position or the designated direction during the recognition are recognized, and the designated position or designated direction by the user is determined based on the three-dimensional coordinates. Moreover, the control part of patent document 6 determines whether a feature point is a stop state based on the two-dimensional coordinate in a two-dimensional plane parallel to a large screen display among the three-dimensional coordinates of a feature point. When the movement amount on the two-dimensional plane is equal to or smaller than the predetermined threshold value, it is determined that the camera is in the stopped state, and the mode is switched to the click mode.

  Patent Document 7 discloses a technique related to an object recognition device. This object recognition device acquires a pattern distribution of an image on a coordinate set that is geometrically uniquely determined from coordinates of two points, and acquires a brightness distribution vector obtained by normalizing the pattern distribution with respect to a distance; A collation information creation unit that creates collation information from a plurality of lightness distribution vectors obtained by applying a lightness distribution vector acquisition unit to an image to be recognized in advance, and a lightness distribution vector and collation information from the input image And a recognition unit for recognizing the object by collating the brightness distribution vector.

JP 2009-278456 A JP-A-9-6577 JP 2011-180867 A JP 2007-304667 A JP 2011-134065 A JP 2004-246814 A Japanese Patent Laid-Open No. 11-283031

  However, in the techniques described in Patent Documents 5 to 7, image processing must be performed for object recognition or object motion recognition. In such a process, the object to be recognized must be captured as an image, and it is necessary to prevent the situation from leaking to the outside. This is difficult to use when you want to keep the situation in a space such as an office or private space secret. There's a problem.

  One aspect of the space recognition system according to the present invention is based on at least one indication target device and at least one of a tracing operation with respect to a touch sensor provided on the own device and a change in position of the own device. An instruction device that outputs trace trajectory information for instructing a control target device to be controlled, and device position information indicating a relative position and orientation between a built-in reception unit and an external transmission unit; A target specifying device that specifies the device to be controlled based on the trace trajectory information, and the target specifying device uses the trace trajectory coordinate information indicated by at least one of the trace trajectory information and the device position information. An indication direction vector is calculated by converting into coordinate information of a reference coordinate system based on the position of the transmission unit, and the indication direction vector is extended. Identifying the control target apparatus based on the distance between the position coordinates of the defined the instruction target device on the half line and the reference coordinate system.

  One aspect of the space recognition method according to the present invention is based on at least one instruction target apparatus and at least one of a tracing operation with respect to a touch sensor provided on the own device and a position change of the own device. An instruction device that outputs trace trajectory information for instructing a control target device to be controlled, and device position information indicating a relative position and orientation between a built-in reception unit and an external transmission unit; A target identification device that identifies the control target device based on the trace trajectory information and the device position information, wherein the target identification device includes the trace trajectory information and the device. The trace locus coordinate information indicated by at least one of the position information and the position of the reference coordinate system with respect to the position of the transmission unit. The control target device is converted into information to calculate a pointing direction vector, calculates a half line obtained by extending the pointing direction vector, and based on a distance from a position coordinate of the pointing target device defined on the reference coordinate system Is identified.

  According to the space recognition system and the space recognition method according to the present invention, it is possible to recognize the relative positional relationship and the pointing direction between the pointing device and the pointing target device while concealing information to be concealed in the space.

1 is a block diagram of a space recognition system according to a first exemplary embodiment. It is a figure explaining the coordinate system utilized in the space recognition system concerning Embodiment 1. FIG. It is a figure explaining the relationship of the coordinate recognized in the space recognition system concerning Embodiment 1. FIG. 6 is a flowchart showing a process for generating trace trajectory information in the pointing device according to the first embodiment; 6 is a flowchart showing a process for generating device position information in the instruction device according to the first embodiment; 3 is a flowchart illustrating an operation of the target identification device according to the first exemplary embodiment. It is a figure explaining the coordinate system utilized in the space recognition system concerning Embodiment 2. FIG. It is a figure explaining the relationship of the coordinate recognized in the space recognition system concerning Embodiment 2. FIG. 10 is a flowchart illustrating an operation of the target identification device according to the second exemplary embodiment. It is a figure explaining the relationship of the coordinate recognized in the space recognition system concerning Embodiment 3. FIG. FIG. 10 is a flowchart showing a process for generating trace trajectory information in the pointing device according to the third embodiment; 10 is a flowchart illustrating an operation of the target identification device according to the third exemplary embodiment.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 1 shows a block diagram of a space recognition system 1 according to the first exemplary embodiment. As illustrated in FIG. 1, the space recognition system 1 according to the first embodiment includes an instruction device 10, a target identification device 30, and instruction target devices 41 to 43. In the space recognition system 1, the three-dimensional position measurement device 20 is used to recognize the position and direction of the pointing device 10 in the space. In the space recognition system 1 according to the first exemplary embodiment, it is assumed that the instruction device 10, the target identification device 30, and the instruction target devices 41 to 43 are in a state where they can communicate with each other by wireless communication, for example. That is, in the space recognition system 1, various information between devices is transmitted and received by radio signals.

  The indication device 10 is a tracing locus that indicates a control target device to be controlled among the indication target devices 41 to 43 based on at least one of a tracing operation with respect to a touch sensor provided on the device and a change in position of the own device. Output information. The instruction device 10 also outputs device position information indicating the relative position and orientation of the built-in receiving unit (for example, the receiver units 13 to 15) and the transmitting unit (for example, the transmitter unit 12) provided outside. To do.

  More specifically, the pointing device 10 includes a pointing direction measurement unit 11, receiver units 13 to 15, and a position sensor control unit 16. The pointing direction measurement unit 11 outputs trajectory information obtained by a tracing operation performed by a user on a touch sensor (not shown) provided in the pointing device 10 as slant trajectory information.

  The receiver units 13 to 15 and the position sensor control unit 16 are also included in a part of the three-dimensional position measurement apparatus 20. The three-dimensional position measurement apparatus 20 includes a transmitter unit 12, receiver units 13 to 15, and a position sensor control unit 16. In the first embodiment, for example, a magnetic sensor is used as the three-dimensional position measurement device 20. The transmitter unit 12 outputs magnetism. The transmitter unit 12 indicates a reference position in the space to be recognized, and is provided in the target identification device 30 in the space recognition system 1 according to the first embodiment. The receiver units 13 to 15 receive the magnetism output from the transmitter unit 12 and output information corresponding to the strength of the magnetic field and the direction of the magnetic field that change according to changes in the position and inclination of the receiver unit 13 to 15. In the following description, information output by the receiver units 13 to 15 is referred to as relative position information.

  Here, the receiver unit 13 corresponds to a first receiving unit, the receiver unit 14 corresponds to a second receiving unit, and the receiver unit 15 corresponds to a third receiving unit. . The receiver unit 14 and the receiver unit 15 are disposed on a straight line orthogonal to the receiver unit 13 in the pointing device 10. The position sensor control unit 16 outputs the relative position information output from the receiver units 13 to 15 as device position information.

  The target specifying device 30 includes a position database registration processing unit 31, a position database 32, and an instruction target determination unit 33. The position database registration processing unit 31 provides a user with a user interface for inputting information indicating a relative position between the instruction target devices 41 to 43 and the transmitter unit 12. In addition, the position database registration processing unit 31 converts the input information into position table information of a reference coordinate system based on the position of the transmitter unit 12 and registers the information in the position database 32. Note that one aspect of the registration method of the position information of the instruction target devices 41 to 43 is, for example, that a device registration receiver unit that is different from the receiver unit incorporated in the instruction device 10 is temporarily installed in the instruction target device 41 or the like. Thus, the position information is registered based on the position information obtained from the device registration receiver unit.

  The instruction target determination unit 33 specifies a control target device based on the trace locus information and device position information, and notifies the specified control target device that the control target device is a control target. Specifically, the instruction target determining unit 33 converts the trace locus coordinate information indicated by the trace locus information and the device position information into coordinate information of a reference coordinate system with the position of the transmitter unit 12 as a reference, thereby indicating an instruction direction vector. And the control target device is specified based on the distance between the half line obtained by extending the pointing direction vector and the position coordinate of the pointing target device defined on the reference coordinate system.

  Next, a coordinate system used in the space recognition system 1 according to the first embodiment will be described. FIG. 2 is a diagram for explaining a coordinate system used in the space recognition system 1 according to the first embodiment. FIG. 2 shows a state in which the instruction device 10 and the target identification device 30 are both placed horizontally.

  As shown in FIG. 2, in the space recognition system 1 according to the first exemplary embodiment, the transmitter unit 12 is provided in the target identification device 30. A reference coordinate system Σstandard is defined with the position of the transmitter unit 12 as the origin.

  In the pointing device 10, a device coordinate system Σdevice is defined with the built-in receiver unit 13 as the origin. In the device coordinate system Σdevice, an X coordinate Xd is defined from the receiver unit 13 toward the receiver unit 14, and a Y coordinate Yd is defined from the receiver unit 13 toward the receiver unit 15. In the device coordinate system Σdevice, the Z coordinate Zd is defined in a direction orthogonal to the XY coordinate plane in a state where the pointing device 10 is placed horizontally. Further, the pointing device 10 is provided with the touch sensor 17 having the same area as the display unit. Then, an input coordinate system Σinput is defined as a two-dimensional coordinate indicating the position of the touch on the touch sensor 17. FIG. 2 shows a state in which a tracing operation is performed as an operation from the start point Ps1 to the end point Ps2.

  Next, a coordinate conversion method performed by the instruction target determination unit 33 of the space recognition system 1 according to the first embodiment will be described. Therefore, FIG. 3 explains the relationship of coordinates recognized in the space recognition system 1 according to the first exemplary embodiment. As shown in FIG. 3, in the space recognition system 1 according to the first embodiment, the relative position difference between the device coordinate system Σdevice and the input coordinate system Σinput is defined by Vdi. The positional difference Vdi does not vary because the positional relationship between the touch sensor 17 and the receiver unit 13 is determined on the pointing device 10. Therefore, the position difference Vdi is registered in the position database 32 in advance. The instruction target determination unit 33 adds the position difference Vdi to the coordinates of the start point Ps1 and the coordinates of the end point Ps2 included in the trace trajectory information given from the instruction direction measurement unit 11, thereby converting the coordinates of the input coordinate system Σinput to the device coordinate system. Convert to Σdevice coordinates.

  In the space recognition system 1 according to the first exemplary embodiment, the relative position difference between the receiver unit 13 and the transmitter unit 12 is measured by the receiver unit 13 as Vsdo, and the relative position difference between the receiver unit 14 and the transmitter unit 12 is measured. Is measured by the receiver unit 14 as Vsdx, and the relative positional difference between the receiver unit 15 and the transmitter unit 12 is measured by the receiver unit 15 as Vsdy. The instruction target determination unit 33 converts the coordinates of the device coordinate system into the reference coordinate system Σstandard based on the relative position differences Vsdo, Vsdx, and Vsdy.

  In the space recognition system 1 according to the first exemplary embodiment, the tracing trajectory input based on the relative positional difference between the coordinate systems as described above is converted into the coordinate information of the reference coordinate system. Then, the instruction target determining unit 33 calculates an instruction direction vector from the trace locus expressed as coordinate information of the reference coordinate system, and calculates a half line Ls obtained by extending the instruction direction vector. Thereafter, the instruction target determination unit 33 calculates the perpendicular distances L41 to L43 from the coordinate information of the instruction target devices 41 to 43 registered in the position database 32 to the half line Ls. Then, the instruction target determining unit 33 specifies the instruction target device 42 having the shortest perpendicular distance as the control target device, and instructs the instruction target device 42 to be designated as the control target device. The instruction target device 42 starts communication with the instruction device 10 based on the notification that it has been designated as the control target device.

  Subsequently, the operation of the space recognition system 1 according to the first exemplary embodiment will be described in more detail. The operation of the space recognition system 1 according to the first exemplary embodiment can be divided into the operation of the instruction device 10 and the operation of the target specifying device 30. Therefore, in the following, the operation of the instruction device 10 will be described first, and then the operation of the target identification device 30 will be described. In the following, the control target device determination process in the space recognition system 1 will be described in particular. However, as operations not described, in the space recognition system 1, the operation of the control target device based on the instruction of the instruction device 10 and the instruction device 10 alone The operations that are performed are also performed.

  FIG. 4 is a flowchart showing the generation process of the trace locus information in the instruction device 10 according to the first embodiment. As shown in FIG. 4, when the instruction device 10 starts operation, the instruction device 10 waits for input of a tracing instruction (step S1). Then, in response to the tracing operation being performed on the touch sensor 17 of the pointing device 10 (YES branch of step S1), the pointing device 10 causes the pointing direction measuring unit 11 to trace the input coordinate system. Is measured (step S2). Then, the pointing direction measuring unit 11 of the pointing device 10 transmits the tracing locus information to the pointing target determining unit 33 of the target specifying device 30 (Step S3). Thereafter, the instruction device 10 enters a state of waiting for the input of the tracing instruction again.

  FIG. 5 is a flowchart showing device position information generation processing in the instruction device 10 according to the first embodiment. As illustrated in FIG. 5, the instruction device 10 waits for a device position information output request to the own device from the instruction target determination unit 33 (step S <b> 11). When there is a request for output of the device position information from the instruction target determination unit 33 (YES in step S11), the instruction device 10 acquires the relative position information from the receiver units 13 to 15 by the position sensor control unit 16. Thus, the position information of the own device is measured (step S12). Thereafter, the instruction device 10 transmits the acquired relative position information to the instruction target determination unit 33 as device position information (step S13).

  FIG. 6 is a flowchart illustrating the operation of the target identification device 30 according to the first embodiment. As shown in FIG. 6, when starting the operation, the target specifying device 30 first determines whether or not there is a registration instruction for an unregistered instruction target device in the location database registration processing unit 31 (step S21). If it is determined in step S21 that there is a registration instruction (YES in step S21), the position of the instruction target apparatus in the reference coordinate system is registered in the position database 32 (step S22). On the other hand, when it is determined in step S21 that there is no registration instruction (NO branch of step S21), in the target identification device 30, the instruction target determination unit 33 waits for input of trace trajectory information from the instruction device 10 (step S23). ). In the target identification device 30, when there is no instruction for registering the instruction target and no trace locus information is input, the processes of step S21 and step S23 are repeatedly executed.

  If it is determined in step S23 that the trace trajectory information is input (YES in step S23), the instruction target determining unit 33 performs the operations in steps S24 to S28.

  In step S <b> 24, the instruction target determination unit 33 requests the instruction device 10 to output device position information, and acquires the device position information from the instruction device 10. Next, the instruction target determining unit 33 applies the positional difference Vdi between the input coordinate system Σinput and the device coordinate system Σdevice to the acquired trace locus information, and uses the trace locus information of the input coordinate system Σinput as the coordinate information of the device coordinate system Σdevice. To generate first position change information (step S25). Next, the instruction target determining unit 33 applies the position differences Vsdo, Vsdx, and Vsdy given as the device position information to the position change information of the device coordinate system generated as the first position change information, and the device coordinate system Σdevice. Is converted into coordinate information of the reference coordinate system Σstandard to generate second position change information (for example, position change information of the reference coordinate system Σstandard) (step S26). Thereby, the trace trajectory information of the reference coordinate system Σstandard is generated.

  Next, the instruction target determining unit 33 calculates an instruction direction vector from the tracing locus information of the reference coordinate system Σstandard, and calculates a half line Ls extending from the starting point Ps1 of the tracing locus in the direction of the instruction direction vector (step S27). Next, the instruction target determining unit 33 identifies the instruction target device having the shortest distance from the half line Ls as the control target device, and starts communication with the instruction target device of the control target device (step S28). When the process of step S28 is completed, the target identifying device 30 repeats the processes of step S21 and step S23 again.

  From the above description, in the space recognition system 1 according to the first embodiment, the trace locus information input to the pointing device 10 is used using the device position information indicating the relative position between the pointing device 10 and the transmitter unit 12. By converting to the reference coordinate system Σdevice with the position of the transmitter unit 12 as a reference, an instruction target device ahead of the tracing locus is specified. That is, in the space recognition system 1 according to the first exemplary embodiment, the relative positions of the pointing device 10 and the pointing target device 41 can be specified without using image processing. Thereby, in the space recognition system 1 according to the first exemplary embodiment, while concealing information other than the position information of the instruction device 10 and the instruction target device 41 in the real space where the instruction device 10 and the instruction target device 41 exist, An instruction to the instruction target device 41 can be issued from the instruction device 10. In recent years, there has been an increasing demand for protection of personal information in particular, and there is a problem that the position identification method using image information has a high possibility of including personal information in an image. On the other hand, in the space recognition system 1 according to the first exemplary embodiment, since personal information is not included in the information to be used, the personal information is not leaked from the information used to acquire the position information.

  In addition, when trying to identify the relative positional relationship between the pointing device 10 and the pointing target device 41 using image processing, high calculation capability is required for processing such as feature point extraction and pointing direction tracking. However, in the space recognition system 1 according to the first exemplary embodiment, since the relative positional relationship between the instruction device 10 and the instruction target device 41 can be specified without using image processing, the processing capability of the target specifying device 30 is suppressed. be able to.

  In addition, since the space recognition system 1 according to the first embodiment only performs the tracing operation toward the instruction target device to be controlled, the control target is determined from the list of instruction target devices displayed on the instruction device 10. Compared to a system for selecting an apparatus, it is possible to reduce labor and time for selecting a control target apparatus. Further, in the space recognition system 1 according to the first exemplary embodiment, it is not necessary to establish communication with the pointing device 10 directed to the control target device, so that it is possible to reduce the effort and time required for selecting the control target device.

Embodiment 2
In the second embodiment, another form of the method for specifying the control target device in the instruction target determination unit 33 will be described. Hereinafter, the space recognition system that executes the method for specifying the control target device according to the second embodiment is referred to as a space recognition system 2. The configuration of the space recognition system 2 according to the second embodiment is different from the space recognition system 1 according to the first embodiment only in the processing in the instruction target determining unit 33, and thus the description of the block diagram is omitted. To do. FIG. 7 is a diagram for explaining the positional relationship between the instruction target devices 41 to 43 in which the space recognition system 2 according to the second embodiment is particularly effective. FIG. 7 is a diagram for explaining a coordinate system used in the space recognition system 2 according to the second embodiment.

  As shown in FIG. 7, also in the space recognition system 2 according to the second embodiment, the coordinate system to be used is the same as that of the space recognition system 1 according to the first embodiment. On the other hand, in the space recognition system 2 according to the second exemplary embodiment, the instruction target device 41 and the instruction target device 42 are both present on the half line Ls obtained by extending the tracing locus. In the space recognition system 1 according to the first exemplary embodiment, the control target device is specified based on the distances L41 to L43 of the perpendicular extending from the indication target device 41 to 43 to the half line Ls. The control target device cannot be specified.

  The space recognition system 2 according to the second embodiment provides a method for specifying a control target device even in a situation as shown in FIG. FIG. 8 is a diagram for explaining the relationship of coordinates recognized in the space recognition system according to the second embodiment. As shown in FIG. 8, also in the space recognition system 2 according to the second embodiment, the standard coordinate system Σstandard, the device coordinate system Σdevice, and the input coordinate system Σinput are the same as the space recognition system 1 according to the first embodiment. Be recognized.

  On the other hand, in the space recognition system 2 according to the second exemplary embodiment, the coordinates of the instruction target devices 41 and 42 have a cubic shape composed of eight vertices with respect to the coordinates indicating the positions of the instruction target devices 41 and 42. A bounding box is set. In the example illustrated in FIG. 8, a bounding box having vertices Pt11 to Pt18 is set for the instruction target device 41, and a bounding box having vertices Pt21 to Pt28 is set for the instruction target device 42. Then, in the space recognition system 2 according to the second exemplary embodiment, the intersection point of the half line Ls and the bounding box surface is calculated. In the example shown in FIG. 8, intersections Pn11 and Pn12 are calculated as intersections of the bounding box and half line of the instruction target device 41, and Pn21 and Pn22 are calculated as intersections of the bounding box of the instruction target device 42 and the half line. . In the space recognition system 2 according to the second exemplary embodiment, the indication target device 41 corresponding to the bounding box having the intersection closest to the start point Ps1 of the tracing locus among the intersections is specified as the control target device.

  Subsequently, the operation of the space recognition system 2 according to the second exemplary embodiment will be described in more detail. Also in the space recognition system 2 according to the second embodiment, the operation of the pointing device 10 is the same as that of the space recognition system 1 according to the first embodiment, and thus the description of the operation of the pointing device 10 is omitted here. On the other hand, in the space recognition system 2 according to the second embodiment, the operation of the instruction target determining unit 33 is different from that of the space recognition system 1 according to the first embodiment. explain.

  FIG. 9 is a flowchart showing the operation of the target identification device 30 according to the second exemplary embodiment. As illustrated in FIG. 9, the target identification device 30 according to the second exemplary embodiment performs processing from when the operation is started until the tracing locus is converted into tracing locus information represented by the standard coordinate system Σstandard (step S21). -S27) is the same as that of the target specifying device 30 according to the first embodiment. On the other hand, in the target identification device 30 according to the second embodiment, after the instruction direction vector is calculated (step S27), steps S30 and S31 are executed instead of step S28.

  In step S30, the instruction target determining unit 33 refers to the position database to calculate the bounding box of the instruction target device located on the half line. After that, the instruction target determining unit 33 calculates the intersection of the bounding box surface and the half line Ls, specifies the instruction target device corresponding to the bounding box having the intersection at the closest position from the tracing locus as the control target device, and performs control. The target device starts communication with the instruction target device (step S31).

  From the above description, in the space recognition system 2 according to the second exemplary embodiment, even when the control target device cannot be specified only by the distance between the half line and the target device 4, the calculation is performed corresponding to the target device. The device to be controlled can be specified based on the position of the intersection between the banding box and the half line.

  In the above description, the device having the shortest distance from the intersection point of the bounding box and the half line and the start point Ps1 of the tracing locus is specified as the control target device. However, this specifying method is one form of the specifying method, and the control target device may be specified based on the intersection of the tracing locus end point Ps2, the bounding box, and the half line. Further, the device to be controlled may be specified based on the intersection of the bounding box and the half straight line that are the farthest from the starting point Ps1 of the tracing locus. Whether or not the bounding box is calculated does not necessarily include the position coordinates of the instruction target device on the half line Ls, and there are a plurality of instruction target devices whose distance from the half line Ls is within a predetermined range. At this point, a bounding box may be created.

Embodiment 3
In the third embodiment, another embodiment of the method for generating the trace trajectory information will be described. Hereinafter, the space recognition system that executes the method for generating trace trajectory information according to the third embodiment is referred to as a space recognition system 3. The configuration of the space recognition system 3 according to the third embodiment is different from the space recognition system 3 according to the first embodiment only in the processing in the pointing direction measurement unit 11 and the position sensor control unit 16. Description of the block diagram is omitted. FIG. 10 is a diagram for explaining the relationship of coordinates recognized in the space recognition system according to the third embodiment.

  As shown in FIG. 10, in the space recognition system 3 according to the third exemplary embodiment, tracing trajectory information is generated based on the positional displacement of the pointing device 10 in the real space. Therefore, in the space recognition system 3 according to the third exemplary embodiment, the input coordinate system Σinput is the same as the device coordinate system Σdevice. That is, in the third embodiment, the coordinate system used is the reference coordinate system Σstandard and the device coordinate system Σdevice. In the third embodiment, the trace information output by the position sensor control unit 16 includes the position information of the receiver units 14 and 15 before and after the position change of the pointing device 10. In the third embodiment, the trace trajectory information is generated based on the position change of the receiver unit 13, but the position change of the receiver unit 14 or the receiver unit 15 can also be used as the trace trajectory information.

  Next, the operation of the space recognition system 3 according to the third exemplary embodiment will be described. In the third embodiment, the position sensor control unit 16 is used instead of the pointing direction measurement unit 11 for generating the trace trajectory information. First, FIG. 11 is a flowchart showing the trace locus information generation process in the pointing device according to the third embodiment.

  As shown in FIG. 11, in the third embodiment, when the pointing device 10 starts operating, the pointing device 10 changes the position of the pointing device 10 during the preset instruction determination time Tj in the position sensor control unit 16. It is monitored whether or not the amount is equal to or greater than the determination threshold (step S41). Then, in response to the position change amount of the instruction device 10 during the instruction determination time Tj becoming equal to or greater than the determination threshold (YES in step S41), the position sensor control unit 16 of the instruction device 10 Trace trajectory information is generated from the position change information (step S42). Subsequently, the position sensor control unit 16 transmits the generated tracing locus information to the instruction target determining unit 33 (step S43).

  Subsequently, an operation of the target identification device 30 of the space recognition system 3 according to the third exemplary embodiment will be described. FIG. 12 is a flowchart showing the operation of the target specifying device according to the third embodiment. Also in the target specifying device 30 according to the third embodiment, the processing (steps S21 to S23) until the tracing locus information is input is the same as that of the target specifying device 30 according to the first embodiment.

  On the other hand, in the target identifying device 30 according to the third embodiment, when the trace locus information is input, the processes of steps S51 and S52 are performed. In step S51, the instruction target determining unit 33 of the target identifying device 30 calculates an instruction direction vector from the trace locus information, and calculates a half line extending from the start point of the trace locus in the direction of the instruction direction vector. Next, the instruction target determining unit 33 specifies the instruction target device having the shortest distance from the half line as the control target device, and causes the specified control target device to start communication with the instruction target device (step S52).

  From the above description, the space recognition system 3 according to the third embodiment generates the trace trajectory information from the position change of the pointing device 10, so Can be calculated. That is, the space recognition system 3 according to the third exemplary embodiment can specify the control target device with fewer processes than the first exemplary embodiment.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, the method for generating trajectory information of the space recognition system 3 according to the third embodiment and the method for specifying the control target device of the space recognition system 2 according to the second embodiment can be combined.

DESCRIPTION OF SYMBOLS 1-3 Space recognition system 10 Pointing device 11 Pointing direction measurement part 12 Transmitter part 13-15 Receiver part 16 Position sensor control part 17 Touch sensor 20 Three-dimensional position measuring device 30 Object identification apparatus 31 Position database registration process part 32 Position database 33 Instruction target determination unit 41 to 43 Instruction target device

Claims (10)

At least one instruction target device;
Trace path information for instructing a control target device to be controlled among the indication target devices based on at least one of a tracing operation with respect to a touch sensor provided on the own device and a change in position of the own device, An instruction device that outputs device position information indicating a relative position and orientation of a receiving unit and a transmitting unit provided outside; and
A target specifying device that specifies the control target device based on the tracing trajectory information,
The target specifying device converts the trace trajectory coordinate information indicated by at least one of the trace trajectory information and the device position information into coordinate information of a reference coordinate system based on the position of the transmission unit, and converts an indication direction vector. A space recognition system that identifies the control target device based on a distance between a half line calculated and extended from the pointing direction vector and a position coordinate of the pointing target device defined on the reference coordinate system. The target specifying device is:
Converting the trace trajectory information including the coordinate information of the input coordinate system indicating the position on the touch sensor into the coordinate information of the device coordinate system indicating the position on the pointing device to generate first position change information;
Converting the first position change information into coordinate information of the reference coordinate system to generate second position change information;
The space recognition system according to claim 1, wherein the pointing direction vector is calculated based on the tracing trajectory information included in the second position change information.   The space recognition system according to claim 1, wherein the target specifying device calculates a distance between the half line and the pointing target device, and specifies the pointing target device having the smallest distance as the control target device.   When there are a plurality of the instruction target devices on the half line, the target specifying device defines a bounding box for each of the target target devices located on the half line, and the surface of the bounding box and the half line The said instruction | indication object apparatus corresponding to the intersection coordinate nearest to the start point of the said trace locus | trajectory information among the several intersection coordinates calculated to an intersection is specified as any one of Claims 1 thru | or 3. Spatial recognition system. The pointing device outputs position change information of the own device as the trace trajectory information when the position change of the own device within a predetermined time becomes a predetermined distance or more,
The space recognition system according to claim 1, wherein the target specifying device calculates the pointing direction vector from the tracing locus information. The receiver is
A first receiver;
A second receiving unit and a third receiving unit arranged on a straight line orthogonal to the first receiving unit as an intersection;
A position sensor control unit that outputs relative position information indicating a relative positional relationship between the third receiving unit and the transmitting unit from the first receiving unit as the device position information;
The space recognition system according to any one of claims 1 to 4, further comprising:   The space recognition system according to claim 1, wherein the target specifying device calculates the pointing direction vector as a reference position of a space for recognizing the position of the transmission unit.   The space recognition system according to claim 7, wherein the transmission unit is provided in the target identification device. The transmitter and the receiver are magnetic sensors,
The transmitter outputs a reference magnetism,
9. The space recognition system according to claim 1, wherein the receiving unit applies relative position information indicating a relative position with respect to the receiving unit according to a change in the magnetism. At least one instruction target device;
Trace path information for instructing a control target device to be controlled among the indication target devices based on at least one of a tracing operation with respect to a touch sensor provided on the own device and a change in position of the own device, An instruction device that outputs device position information indicating a relative position and orientation of a receiving unit and a transmitting unit provided outside; and
A space recognition method in a space recognition system comprising: a target specifying device that specifies the control target device based on the tracing locus information and the device position information,
The target identification device is
Converting the trace locus coordinate information indicated by at least one of the trace locus information and the device position information into coordinate information of a reference coordinate system based on the position of the transmission unit to calculate an instruction direction vector;
Calculate a half line extending the indicated direction vector,
A space recognition method for identifying the control target device based on a distance from a position coordinate of the indication target device defined on the reference coordinate system.

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